Yeah, no problem. You can check out an earlier workshop paper right now:http://www.cs.cmu.edu/~nbeckman/papers/beckman_aldrich_sdir07.pdfor you can wait until I have finished with this one and I can send it to you.

The dots are actually the robots themselves. This is a hypothetical type of 'programmable matter' where each robot is very tiny and can't do much except for move around other robots. The colors tell me what state each robot is in.